4 papers
CBF-based Probabilistic Safe Navigation under Unknown Nonlinear Obstacle Dynamics
Jiwon Lee, Hugo Matias, Daniel Silvestre +1
Safe navigation for an ego vehicle in uncertain environments characterized by dynamic obstacles with unknown nonlinear dynamics is a challenging problem of significant practical in…
Fault-Tolerant MPC Control for Trajectory Tracking
David Laranjinho, Daniel Silvestre
An MPC controller uses a model of the dynamical system to plan an optimal control strategy for a finite horizon, which makes its performance intrinsically tied to the quality of th…
Safe Navigation under Uncertain Obstacle Dynamics using Control Barrier Functions and Constrained Convex Generators
Hugo Matias, Daniel Silvestre
This paper presents a sampled-data framework for the safe navigation of controlled agents in environments cluttered with obstacles governed by uncertain linear dynamics. Collision-…
Hybrid Lyapunov and Barrier Function-Based Control with Stabilization Guarantees
Hugo Matias, Daniel Silvestre
Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) can be combined, typically by means of Quadratic Programs (QPs), to design controllers that achieve performan…